amiro-os / modules / DiWheelDrive_1-1 / module.c @ 84f0ce9e
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file
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* @brief Structures and constant for the DiWheelDrive module.
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*
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* @addtogroup diwheeldrive_module
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* @{
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*/
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#include "module.h" |
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#include <amiroos.h> |
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/*===========================================================================*/
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/**
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* @name Module specific functions
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name ChibiOS/HAL configuration
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* @{
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*/
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/*===========================================================================*/
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CANConfig moduleHalCanConfig = {
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/* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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}; |
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I2CConfig moduleHalI2cCompassConfig = {
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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I2CConfig moduleHalI2cProxEepromPwrmtrConfig = {
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/* I²C mode */ OPMODE_I2C,
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/* frequency */ 400000, |
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/* duty cycle */ FAST_DUTY_CYCLE_2,
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}; |
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PWMConfig moduleHalPwmDriveConfig = {
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/* frequency */ 7200000, |
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/* period */ 360, |
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/* callback */ NULL, |
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/* channel configurations */ {
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/* channel 0 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 1 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 2 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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/* channel 3 */ {
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/* mode */ PWM_OUTPUT_ACTIVE_HIGH,
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/* callback */ NULL |
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}, |
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}, |
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/* TIM CR2 register */ 0, |
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#if STM32_PWM_USE_ADVANCED
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/* TIM BDTR register */ 0, |
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#endif
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/* TIM DIER register */ 0 |
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}; |
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QEIConfig moduleHalQeiConfig = {
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/* mode */ QEI_COUNT_BOTH,
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/* channel config */ {
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/* channel 0 */ {
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/* input mode */ QEI_INPUT_NONINVERTED,
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}, |
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/* channel 1 */ {
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/* input mode */ QEI_INPUT_NONINVERTED,
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}, |
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}, |
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/* encoder range */ 0x10000u, |
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}; |
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SerialConfig moduleHalProgIfConfig = {
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/* bit rate */ 115200, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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/* CR1 */ 0, |
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}; |
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SPIConfig moduleHalSpiAccelerometerConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOC,
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/* chip select line pad number */ GPIOC_ACCEL_SS_N,
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/* CR1 */ SPI_CR1_BR_0,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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SPIConfig moduleHalSpiGyroscopeConfig = {
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/* circular buffer mode */ false, |
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/* callback function pointer */ NULL, |
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/* chip select line port */ GPIOC,
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/* chip select line pad number */ GPIOC_GYRO_SS_N,
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/* CR1 */ SPI_CR1_BR_0,
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/* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name GPIO definitions
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief LED output signal GPIO.
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*/
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static apalGpio_t _gpioLed = {
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/* port */ GPIOA,
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/* pad */ GPIOA_LED,
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}; |
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ROMCONST apalControlGpio_t moduleGpioLed = {
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/* GPIO */ &_gpioLed,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief POWER_EN output signal GPIO.
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*/
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static apalGpio_t _gpioPowerEn = {
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/* port */ GPIOB,
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/* pad */ GPIOB_POWER_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPowerEn = {
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/* GPIO */ &_gpioPowerEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief COMPASS_DRDY output signal GPIO.
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*/
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static apalGpio_t _gpioCompassDrdy = {
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/* port */ GPIOB,
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/* pad */ GPIOB_COMPASS_DRDY,
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}; |
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ROMCONST apalControlGpio_t moduleGpioCompassDrdy = {
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/* GPIO */ &_gpioCompassDrdy,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief IR_INT input signal GPIO.
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*/
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static apalGpio_t _gpioIrInt = {
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/* port */ GPIOB,
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/* pad */ GPIOB_IR_INT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioIrInt = {
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/* GPIO */ &_gpioIrInt,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ VCNL4020_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief GYRO_DRDY input signal GPIO.
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*/
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static apalGpio_t _gpioGyroDrdy = {
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/* port */ GPIOB,
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/* pad */ GPIOB_GYRO_DRDY,
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}; |
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ROMCONST apalControlGpio_t moduleGpioGyroDrdy = {
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/* GPIO */ &_gpioGyroDrdy,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ L3G4200D_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief SYS_UART_UP bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysUartUp = {
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/* port */ GPIOB,
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/* pad */ GPIOB_SYS_UART_UP,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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/* GPIO */ &_gpioSysUartUp,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief ACCEL_INT input signal GPIO.
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*/
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static apalGpio_t _gpioAccelInt = {
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/* port */ GPIOB,
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/* pad */ GPIOB_ACCEL_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioAccelInt = {
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/* GPIO */ &_gpioAccelInt,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ (LIS331DLH_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ LIS331DLH_LLD_INT_EDGE,
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}, |
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}; |
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/**
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* @brief SYS_SNYC bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysSync = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_INT_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysSync = {
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/* GPIO */ &_gpioSysSync,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief PATH_DCSTAT input signal GPIO.
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*/
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static apalGpio_t _gpioPathDcStat = {
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/* port */ GPIOC,
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/* pad */ GPIOC_PATH_DCSTAT,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPathDcStat = {
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/* GPIO */ &_gpioPathDcStat,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ LTC4412_LLD_STAT_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief PATH_DCEN output signal GPIO.
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*/
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static apalGpio_t _gpioPathDcEn = {
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/* port */ GPIOC,
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/* pad */ GPIOC_PATH_DCEN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioPathDcEn = {
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/* GPIO */ &_gpioPathDcEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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/* active state */ LTC4412_LLD_CTRL_ACTIVE_STATE,
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/* interrupt edge */ APAL_GPIO_EDGE_NONE,
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}, |
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}; |
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/**
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* @brief SYS_PD bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysPd = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_PD_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysPd = {
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/* GPIO */ &_gpioSysPd,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_REG_EN input signal GPIO.
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*/
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static apalGpio_t _gpioSysRegEn = {
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/* port */ GPIOC,
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/* pad */ GPIOC_SYS_REG_EN,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysRegEn = {
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/* GPIO */ &_gpioSysRegEn,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_INPUT,
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/* active state */ APAL_GPIO_ACTIVE_HIGH,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/**
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* @brief SYS_WARMRST bidirectional signal GPIO.
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*/
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static apalGpio_t _gpioSysWarmrst = {
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/* port */ GPIOD,
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/* pad */ GPIOD_SYS_WARMRST_N,
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}; |
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ROMCONST apalControlGpio_t moduleGpioSysWarmrst = {
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/* GPIO */ &_gpioSysWarmrst,
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/* meta */ {
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/* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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/* active state */ APAL_GPIO_ACTIVE_LOW,
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/* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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}, |
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name AMiRo-OS core configurations
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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ROMCONST char* moduleShellPrompt = "DiWheelDrive"; |
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Startup Shutdown Synchronization Protocol (SSSP)
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* @{
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*/
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/*===========================================================================*/
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/** @} */
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/*===========================================================================*/
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/**
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* @name Low-level drivers
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* @{
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*/
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/*===========================================================================*/
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A3906Driver moduleLldMotors = {
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/* power enable GPIO */ &moduleGpioPowerEn,
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}; |
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AT24C01BNDriver moduleLldEeprom = {
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/* I2C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ AT24C01BN_LLD_I2C_ADDR_FIXED,
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}; |
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HMC5883LDriver moduleLldCompass = {
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/* I²C Driver */ &MODULE_HAL_I2C_COMPASS,
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}; |
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INA219Driver moduleLldPowerMonitorVdd = {
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/* I2C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ INA219_LLD_I2C_ADDR_FIXED,
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/* current LSB (uA) */ 0x00u, |
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/* configuration */ NULL, |
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}; |
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L3G4200DDriver moduleLldGyroscope = {
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/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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}; |
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LEDDriver moduleLldStatusLed = {
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/* LED enable Gpio */ &moduleGpioLed,
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}; |
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LIS331DLHDriver moduleLldAccelerometer = {
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/* SPI Driver */ &MODULE_HAL_SPI_MOTION,
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}; |
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LTC4412Driver moduleLldPowerPathController = {
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/* Control GPIO */ &moduleGpioPathDcEn,
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/* Status GPIO */ &moduleGpioPathDcStat,
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}; |
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PCA9544ADriver moduleLldI2cMultiplexer = {
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/* I²C driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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/* I²C address */ PCA9544A_LLD_I2C_ADDR_FIXED | PCA9544A_LLD_I2C_ADDR_A0 | PCA9544A_LLD_I2C_ADDR_A1 | PCA9544A_LLD_I2C_ADDR_A2,
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}; |
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TPS62113Driver moduleLldStepDownConverterVdrive = {
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/* Power enable Gpio */ &moduleGpioPowerEn,
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}; |
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VCNL4020Driver moduleLldProximity = {
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/* I²C Driver */ &MODULE_HAL_I2C_PROX_EEPROM_PWRMTR,
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}; |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Unit tests (UT)
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* @{
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*/
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/*===========================================================================*/
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <string.h> |
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#include <chprintf.h> |
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/* A3906 (motor driver) */
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static int _utShellCmdCb_AlldA3906(BaseSequentialStream* stream, int argc, char* argv[]) |
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{
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(void)argc;
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(void)argv;
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aosUtRun(stream, &moduleUtAlldA3906, NULL);
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return AOS_OK;
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} |
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static ut_a3906data_t _utA3906Data = {
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/* driver */ &moduleLldMotors,
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/* PWM information */ {
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/* driver */ &MODULE_HAL_PWM_DRIVE,
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/* channels */ {
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/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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}, |
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}, |
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/* QEI information */ {
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/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
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/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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}, |
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/* Wheel diameter */ {
|
| 466 |
/* left wheel */ 0.05571f, |
| 467 |
/* right wheel */ 0.05571f, |
| 468 |
}, |
| 469 |
/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
| 470 |
}; |
| 471 |
aos_unittest_t moduleUtAlldA3906 = {
|
| 472 |
/* name */ "A3906", |
| 473 |
/* info */ "motor driver", |
| 474 |
/* test function */ utAlldA3906Func,
|
| 475 |
/* shell command */ {
|
| 476 |
/* name */ "unittest:MotorDriver", |
| 477 |
/* callback */ _utShellCmdCb_AlldA3906,
|
| 478 |
/* next */ NULL, |
| 479 |
}, |
| 480 |
/* data */ &_utA3906Data,
|
| 481 |
}; |
| 482 |
|
| 483 |
/* AT24C01BN (EEPROM) */
|
| 484 |
static int _utShellCmdCb_AlldAt24c01bn(BaseSequentialStream* stream, int argc, char* argv[]) |
| 485 |
{
|
| 486 |
(void)argc;
|
| 487 |
(void)argv;
|
| 488 |
aosUtRun(stream, &moduleUtAlldAt24c01bn, NULL);
|
| 489 |
return AOS_OK;
|
| 490 |
} |
| 491 |
static ut_at24c01bndata_t _utAt24c01bnData = {
|
| 492 |
/* driver */ &moduleLldEeprom,
|
| 493 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 494 |
}; |
| 495 |
aos_unittest_t moduleUtAlldAt24c01bn = {
|
| 496 |
/* name */ "AT24C01BN-SH-B", |
| 497 |
/* info */ "1kbit EEPROM", |
| 498 |
/* test function */ utAlldAt24c01bnFunc,
|
| 499 |
/* shell command */ {
|
| 500 |
/* name */ "unittest:EEPROM", |
| 501 |
/* callback */ _utShellCmdCb_AlldAt24c01bn,
|
| 502 |
/* next */ NULL, |
| 503 |
}, |
| 504 |
/* data */ &_utAt24c01bnData,
|
| 505 |
}; |
| 506 |
|
| 507 |
/* HMC5883L (compass) */
|
| 508 |
static int _utShellCmdCb_AlldHmc5883l(BaseSequentialStream* stream, int argc, char* argv[]) |
| 509 |
{
|
| 510 |
(void)argc;
|
| 511 |
(void)argv;
|
| 512 |
aosUtRun(stream, &moduleUtAlldHmc5883l, NULL);
|
| 513 |
return AOS_OK;
|
| 514 |
} |
| 515 |
static ut_hmc5883ldata_t _utHmc5883lData = {
|
| 516 |
/* HMC driver */ &moduleLldCompass,
|
| 517 |
/* event source */ &aos.events.io,
|
| 518 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_COMPASSDRDY,
|
| 519 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 520 |
}; |
| 521 |
aos_unittest_t moduleUtAlldHmc5883l = {
|
| 522 |
/* name */ "HMC5883L", |
| 523 |
/* info */ "compass", |
| 524 |
/* test function */ utAlldHmc5883lFunc,
|
| 525 |
/* shell command */ {
|
| 526 |
/* name */ "unittest:Compass", |
| 527 |
/* callback */ _utShellCmdCb_AlldHmc5883l,
|
| 528 |
/* next */ NULL, |
| 529 |
}, |
| 530 |
/* data */ &_utHmc5883lData,
|
| 531 |
}; |
| 532 |
|
| 533 |
/* INA219 (power monitor) */
|
| 534 |
static int _utShellCmdCb_AlldIna219(BaseSequentialStream* stream, int argc, char* argv[]) |
| 535 |
{
|
| 536 |
(void)argc;
|
| 537 |
(void)argv;
|
| 538 |
aosUtRun(stream, &moduleUtAlldIna219, "VDD (3.3V)");
|
| 539 |
return AOS_OK;
|
| 540 |
} |
| 541 |
static ut_ina219data_t _utIna219Data = {
|
| 542 |
/* driver */ &moduleLldPowerMonitorVdd,
|
| 543 |
/* expected voltage */ 3.3f, |
| 544 |
/* tolerance */ 0.05f, |
| 545 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 546 |
}; |
| 547 |
aos_unittest_t moduleUtAlldIna219 = {
|
| 548 |
/* name */ "INA219", |
| 549 |
/* info */ "power monitor", |
| 550 |
/* test function */ utAlldIna219Func,
|
| 551 |
/* shell command */ {
|
| 552 |
/* name */ "unittest:PowerMonitor", |
| 553 |
/* callback */ _utShellCmdCb_AlldIna219,
|
| 554 |
/* next */ NULL, |
| 555 |
}, |
| 556 |
/* data */ &_utIna219Data,
|
| 557 |
}; |
| 558 |
|
| 559 |
/* L3G4200D (gyroscope) */
|
| 560 |
static int _utShellCmdCb_AlldL3g4200d(BaseSequentialStream* stream, int argc, char* argv[]) |
| 561 |
{
|
| 562 |
(void)argc;
|
| 563 |
(void)argv;
|
| 564 |
spiStart(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid, ((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->spiconf); |
| 565 |
aosUtRun(stream, &moduleUtAlldL3g4200d, NULL);
|
| 566 |
spiStop(((ut_l3g4200ddata_t*)moduleUtAlldL3g4200d.data)->l3gd->spid); |
| 567 |
return AOS_OK;
|
| 568 |
} |
| 569 |
static ut_l3g4200ddata_t _utL3g4200dData = {
|
| 570 |
/* driver */ &moduleLldGyroscope,
|
| 571 |
/* SPI configuration */ &moduleHalSpiGyroscopeConfig,
|
| 572 |
/* event source */ &aos.events.io,
|
| 573 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_GYRODRDY,
|
| 574 |
}; |
| 575 |
aos_unittest_t moduleUtAlldL3g4200d = {
|
| 576 |
/* name */ "L3G4200D", |
| 577 |
/* info */ "Gyroscope", |
| 578 |
/* test function */ utAlldL3g4200dFunc,
|
| 579 |
/* shell command */ {
|
| 580 |
/* name */ "unittest:Gyroscope", |
| 581 |
/* callback */ _utShellCmdCb_AlldL3g4200d,
|
| 582 |
/* next */ NULL, |
| 583 |
}, |
| 584 |
/* data */ &_utL3g4200dData,
|
| 585 |
}; |
| 586 |
|
| 587 |
/* Status LED */
|
| 588 |
static int _utShellCmdCb_AlldLed(BaseSequentialStream* stream, int argc, char* argv[]) |
| 589 |
{
|
| 590 |
(void)argc;
|
| 591 |
(void)argv;
|
| 592 |
aosUtRun(stream, &moduleUtAlldLed, NULL);
|
| 593 |
return AOS_OK;
|
| 594 |
} |
| 595 |
aos_unittest_t moduleUtAlldLed = {
|
| 596 |
/* name */ "LED", |
| 597 |
/* info */ NULL, |
| 598 |
/* test function */ utAlldLedFunc,
|
| 599 |
/* shell command */ {
|
| 600 |
/* name */ "unittest:StatusLED", |
| 601 |
/* callback */ _utShellCmdCb_AlldLed,
|
| 602 |
/* next */ NULL, |
| 603 |
}, |
| 604 |
/* data */ &moduleLldStatusLed,
|
| 605 |
}; |
| 606 |
|
| 607 |
/* LIS331DLH (accelerometer) */
|
| 608 |
static int _utShellCmdCb_AlldLis331dlh(BaseSequentialStream* stream, int argc, char* argv[]) |
| 609 |
{
|
| 610 |
(void)argc;
|
| 611 |
(void)argv;
|
| 612 |
spiStart(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid, ((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->spiconf); |
| 613 |
aosUtRun(stream, &moduleUtAlldLis331dlh, NULL);
|
| 614 |
spiStop(((ut_lis331dlhdata_t*)moduleUtAlldLis331dlh.data)->lisd->spid); |
| 615 |
return AOS_OK;
|
| 616 |
} |
| 617 |
static ut_lis331dlhdata_t _utLis331dlhData = {
|
| 618 |
/* driver */ &moduleLldAccelerometer,
|
| 619 |
/* SPI configuration */ &moduleHalSpiAccelerometerConfig,
|
| 620 |
/* event source */ &aos.events.io,
|
| 621 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_ACCELINT,
|
| 622 |
}; |
| 623 |
aos_unittest_t moduleUtAlldLis331dlh = {
|
| 624 |
/* name */ "LIS331DLH", |
| 625 |
/* info */ "Accelerometer", |
| 626 |
/* test function */ utAlldLis331dlhFunc,
|
| 627 |
/* shell command */ {
|
| 628 |
/* name */ "unittest:Accelerometer", |
| 629 |
/* callback */ _utShellCmdCb_AlldLis331dlh,
|
| 630 |
/* next */ NULL, |
| 631 |
}, |
| 632 |
/* data */ &_utLis331dlhData,
|
| 633 |
}; |
| 634 |
|
| 635 |
/* LTC4412 (power path controller) */
|
| 636 |
static int _utShellCmdCb_AlldLtc4412(BaseSequentialStream* stream, int argc, char* argv[]) |
| 637 |
{
|
| 638 |
(void)argc;
|
| 639 |
(void)argv;
|
| 640 |
aosUtRun(stream, &moduleUtAlldLtc4412, NULL);
|
| 641 |
return AOS_OK;
|
| 642 |
} |
| 643 |
aos_unittest_t moduleUtAlldLtc4412 = {
|
| 644 |
/* name */ "LTC4412", |
| 645 |
/* info */ "Power path controller", |
| 646 |
/* test function */ utAlldLtc4412Func,
|
| 647 |
/* shell command */ {
|
| 648 |
/* name */ "unittest:PowerPathController", |
| 649 |
/* callback */ _utShellCmdCb_AlldLtc4412,
|
| 650 |
/* next */ NULL, |
| 651 |
}, |
| 652 |
/* data */ &moduleLldPowerPathController,
|
| 653 |
}; |
| 654 |
|
| 655 |
/* PCA9544A (I2C multiplexer) */
|
| 656 |
static int _utShellCmdCb_AlldPca9544a(BaseSequentialStream* stream, int argc, char* argv[]) |
| 657 |
{
|
| 658 |
(void)argc;
|
| 659 |
(void)argv;
|
| 660 |
aosUtRun(stream, &moduleUtAlldPca9544a, NULL);
|
| 661 |
return AOS_OK;
|
| 662 |
} |
| 663 |
static ut_pca9544adata_t _utPca9544aData = {
|
| 664 |
/* driver */ &moduleLldI2cMultiplexer,
|
| 665 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 666 |
}; |
| 667 |
aos_unittest_t moduleUtAlldPca9544a = {
|
| 668 |
/* name */ "PCA9544A", |
| 669 |
/* info */ "I2C multiplexer", |
| 670 |
/* test function */ utAlldPca9544aFunc,
|
| 671 |
/* shell command */ {
|
| 672 |
/* name */ "unittest:I2CMultiplexer", |
| 673 |
/* callback */ _utShellCmdCb_AlldPca9544a,
|
| 674 |
/* next */ NULL, |
| 675 |
}, |
| 676 |
/* data */ &_utPca9544aData,
|
| 677 |
}; |
| 678 |
|
| 679 |
/* TPS62113 (step-down converter) */
|
| 680 |
static int _utShellCmdCb_AlldTps62113(BaseSequentialStream* stream, int argc, char* argv[]) |
| 681 |
{
|
| 682 |
(void)argc;
|
| 683 |
(void)argv;
|
| 684 |
aosUtRun(stream, &moduleUtAlldTps62113, NULL);
|
| 685 |
return AOS_OK;
|
| 686 |
} |
| 687 |
aos_unittest_t moduleUtAlldTps62113 = {
|
| 688 |
/* name */ "TPS62113", |
| 689 |
/* info */ "Step down converter", |
| 690 |
/* test function */ utAlldTps62113Func,
|
| 691 |
/* shell command */ {
|
| 692 |
/* name */ "unittest:StepDownConverter", |
| 693 |
/* callback */ _utShellCmdCb_AlldTps62113,
|
| 694 |
/* next */ NULL, |
| 695 |
}, |
| 696 |
/* data */ &moduleLldStepDownConverterVdrive,
|
| 697 |
}; |
| 698 |
|
| 699 |
/* VCNL4020 (proximity sensor) */
|
| 700 |
static void _utAlldVcnl4020_disableInterrupt(VCNL4020Driver* vcnl) |
| 701 |
{
|
| 702 |
uint8_t intstatus; |
| 703 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTCTRL, 0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout);
|
| 704 |
vcnl4020_lld_readreg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, &intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 705 |
if (intstatus) {
|
| 706 |
vcnl4020_lld_writereg(vcnl, VCNL4020_LLD_REGADDR_INTSTATUS, intstatus, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 707 |
} |
| 708 |
return;
|
| 709 |
} |
| 710 |
static int _utShellCmdCb_AlldVcnl4020(BaseSequentialStream* stream, int argc, char* argv[]) |
| 711 |
{
|
| 712 |
enum {
|
| 713 |
UNKNOWN, |
| 714 |
FL, FR, WL, WR, |
| 715 |
} sensor = UNKNOWN; |
| 716 |
// evaluate arguments
|
| 717 |
if (argc == 2) { |
| 718 |
if (strcmp(argv[1], "--frontleft") == 0 || strcmp(argv[1], "-fl") == 0) { |
| 719 |
sensor = FL; |
| 720 |
} else if (strcmp(argv[1], "--frontright") == 0 || strcmp(argv[1], "-fr") == 0) { |
| 721 |
sensor = FR; |
| 722 |
} else if (strcmp(argv[1], "--wheelleft") == 0 || strcmp(argv[1], "-wl") == 0) { |
| 723 |
sensor = WL; |
| 724 |
} else if (strcmp(argv[1], "--wheelright") == 0 || strcmp(argv[1], "-wr") == 0) { |
| 725 |
sensor = WR; |
| 726 |
} |
| 727 |
} |
| 728 |
if (sensor != UNKNOWN) {
|
| 729 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 730 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 731 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 732 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 733 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 734 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 735 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 736 |
_utAlldVcnl4020_disableInterrupt(((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->vcnld); |
| 737 |
switch (sensor) {
|
| 738 |
case FL:
|
| 739 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH3, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 740 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front left sensor");
|
| 741 |
break;
|
| 742 |
case FR:
|
| 743 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH0, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 744 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "front right sensor");
|
| 745 |
break;
|
| 746 |
case WL:
|
| 747 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH2, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 748 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "left wheel sensor");
|
| 749 |
break;
|
| 750 |
case WR:
|
| 751 |
pca9544a_lld_setchannel(&moduleLldI2cMultiplexer, PCA9544A_LLD_CH1, ((ut_vcnl4020data_t*)moduleUtAlldVcnl4020.data)->timeout); |
| 752 |
aosUtRun(stream, &moduleUtAlldVcnl4020, "right wheel sensor");
|
| 753 |
break;
|
| 754 |
default:
|
| 755 |
break;
|
| 756 |
} |
| 757 |
return AOS_OK;
|
| 758 |
} |
| 759 |
// print help
|
| 760 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
| 761 |
chprintf(stream, "Options:\n");
|
| 762 |
chprintf(stream, " --frontleft, -fl\n");
|
| 763 |
chprintf(stream, " Test front left proximity sensor.\n");
|
| 764 |
chprintf(stream, " --frontrigt, -fr\n");
|
| 765 |
chprintf(stream, " Test front right proximity sensor.\n");
|
| 766 |
chprintf(stream, " --wheelleft, -wl\n");
|
| 767 |
chprintf(stream, " Test left wheel proximity sensor.\n");
|
| 768 |
chprintf(stream, " --wheelright, -wr\n");
|
| 769 |
chprintf(stream, " Test right wheel proximity sensor.\n");
|
| 770 |
return AOS_INVALID_ARGUMENTS;
|
| 771 |
} |
| 772 |
static ut_vcnl4020data_t _utVcnl4020Data = {
|
| 773 |
/* driver */ &moduleLldProximity,
|
| 774 |
/* timeout */ MICROSECONDS_PER_SECOND,
|
| 775 |
/* event source */ &aos.events.io,
|
| 776 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_IRINT,
|
| 777 |
}; |
| 778 |
aos_unittest_t moduleUtAlldVcnl4020 = {
|
| 779 |
/* name */ "VCNL4020", |
| 780 |
/* info */ "proximity sensor", |
| 781 |
/* test function */ utAlldVcnl4020Func,
|
| 782 |
/* shell command */ {
|
| 783 |
/* name */ "unittest:Proximity", |
| 784 |
/* callback */ _utShellCmdCb_AlldVcnl4020,
|
| 785 |
/* next */ NULL, |
| 786 |
}, |
| 787 |
/* data */ &_utVcnl4020Data,
|
| 788 |
}; |
| 789 |
|
| 790 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 791 |
|
| 792 |
/** @} */
|
| 793 |
/** @} */
|